CN104184957A - Automatic exposure control method based on adaptive expected image average brightness and suitable for space exploration imaging - Google Patents
Automatic exposure control method based on adaptive expected image average brightness and suitable for space exploration imaging Download PDFInfo
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Abstract
The invention relates to an automatic exposure control method based on adaptive expected image average brightness and suitable for space exploration imaging. The method includes the steps that firstly, a current-frame shot image is segmented through an adaptive threshold value, a main current-frame shot image is identified, and the current-frame shot image average brightness is acquired through the main current-frame shot image average brightness; secondly, histogram equalization is conducted on the identified main current-frame shot image, so that the expected image average brightness is acquired after histogram equalization; thirdly, time of exposure is selected according to whether a difference value between the current-frame shot image average brightness and the expected image average brightness is positive or negative and is large or small, continuous frames are adopted for continuous loop iteration, and therefore the current-frame shot image average brightness reaches the adaptive expected image average brightness acquired after histogram equalization. According to the method, the good exposure effect can be acquired under various conditions of a dark background and a bright target in the space exploration process, the uncertain size of the target and the like, and adaptive ability in the space exploration environment imaging process is improved.
Description
Technical field
The present invention relates to the auto-exposure control field in survey of deep space technology, particularly a kind of automatic exposure control method based on self adaptation expection mean picture brightness that is applicable to space exploration imaging.
Background technology
The auto-exposure control of imaging device is very large on the impact of output image quality.The target of auto-exposure control is that the dark portion of the image details of the shooting body is not lost, and highlights is overexposure not, and the applicable human eye of mean flow rate is watched simultaneously.
While being applied to the imaging device operation on orbit of space exploration, whether the time for exposure is suitable extremely important, too short meeting of time for exposure causes scenery very dark, and the long scenery luminance saturation that can cause, therefore it is essential carrying out auto-exposure control, but auto-exposure control is very complicated, exposure is controlled badly may be absorbed in time for exposure disorder, dark situation when bright while appearance.Therefore whether auto-exposure control is suitable, is vital to imaging device, is related to the success or failure of task.
Civil camera comparative maturity in Control Technique for Automatic Exposure at present, can set needed different exposure control modes according to night scene, daytime, portrait etc., effect is fine, also can adopt aperture priority formula, ShutterPriority Auto formula and program mode auto-exposure control to obtain accurate exposure according to different the shooting bodies.If the Control Technique for Automatic Exposure of civil camera is applied to the space industries such as space exploration, just have limitation.
First from automatic exposure control method, 1. be applied to the imaging device of space exploration, when the shooting body is carried out to imaging, owing to cannot predicting the situations such as the illumination condition, position, shared image area size of the shooting body, cannot set automatic exposure control mode according to scene.Adopt existing integral image brightness to control exposure if be 2. applied to the imaging device of space exploration, if the luminance difference between the shooting body and background is too large, can make the shooting body occur under-exposed or over-exposed phenomenon.If be 3. applied to space exploration imaging device adopt civil camera with reference to brightness value control method, by image block, the brightness of each piece subimage is used to arrange with reference to brightness value, this can obtain by adjusting aperture size with reference to brightness value, certainly equally also can obtain this with reference to brightness value by shutter speed is set, it is unattended being applied to space exploration imaging device, cannot set aperture or shutter.The control that exposes of brightness under research different illumination conditions that what 4. civil camera had pass through and the relation between exposure value, the imaging device that application space is surveyed cannot carry out the demarcation between brightness and exposure value in advance, so can not adopt such exposal control method.5. civilian automatic exposure control method all carries out auto-exposure control based on entire image, in the time that the relative background of the shooting body is very little, can cause the shooting body over-exposed.When the shooting body is very bright, background is when darker, now should reduce the time for exposure; But due to entire image is calculated, the high number of pixels of brightness is much smaller than the low number of pixels of brightness, and therefore entire image is darker, in order to improve the brightness of entire image, continuing increases the time for exposure, finally causes the shooting body over-exposed.Therefore need in existing automatic exposure algorithm, be partitioned into the shooting body image, the shooting body image is carried out to effective auto-exposure control.6. the existing automatic exposure algorithm to the shooting body image, in order to be partitioned into the shooting body image, often adopt constant brightness threshold value to cut apart, but owing to being applied to the temperature impact of space exploration imaging device, constant brightness Threshold segmentation can not adapt to various situations, therefore needs the method that adaptive threshold is cut apart to introduce automatic exposure control method.
Secondly choose from automatic exposure step-length, the step-length of automatic exposure search can affect the balance relation between search speed and search stability.Time for exposure is adjusted the too small meeting of step-length increases searching times, causes reducing search speed; And if the time for exposure adjusts that step-length is long may cause search to restrain, in the optimum exposure point unsettled phenomenon of vacillating now to the left, now to the right.Existing automatic explosion method majority can not be adjusted step-size in search dynamically according to the brightness situation of different scenes.
At present, the method of space optical remote camera adjustments exposure is also few, large-scale remote sensing of the earth camera is because the certainty of its ground target, can use spoke Luminance Analysis software, camera optics and sensor chip characteristic to draw the accurate time for exposure, only need switch according to several grades of time for exposure of the different set of ground scenery.
The domestic space exploration imaging device automatic exposure control method that is applied to is at present because imaging device cannot be identified the shooting body, when in visual field when scenery relative complex, cannot carry out effectively exposure controls, disturbed by noise and non-the shooting body large, make the shooting body brightness in image be difficult to, in a suitable scope, increase the difficulty of auto-exposure control.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of automatic exposure control method based on self adaptation expection mean picture brightness that is applicable to space exploration imaging.
In order to achieve the above object, technical scheme of the present invention is achieved in that
A kind of automatic exposure control method based on self adaptation expection mean picture brightness that is applicable to space exploration imaging, it is characterized in that: first adopt adaptive threshold to cut apart to current frame image, identify present frame subject image, obtain present frame photographic images mean flow rate by present frame subject image mean flow rate, then the present frame subject image identifying is carried out to histogram equalization processing, obtain the expection mean picture brightness after histogram equalization, choose the time for exposure according to photographic images mean flow rate and the positive and negative and size of the difference of expection mean picture brightness again, adopt the continuous loop iteration of successive frame to make photographic images mean flow rate reach the self adaptation expection mean picture brightness after histogram equalization, wherein, auto-exposure control step is:
Step (11): imageing sensor is exported a two field picture, imageing sensor obtains a frame the shooting body image according to the time for exposure;
Step (12): identify present frame subject image, using the average of all pixels of current frame image 1/3rd as threshold value, be present frame subject image by the pixel segmentation that is more than or equal to threshold value;
Step (13): calculate current frame image mean flow rate, the present frame subject image mean flow rate identifying is added up and is averaging the photographic images mean flow rate that obtains present frame;
Step (14): the present frame subject image histogram equalization identifying, the present frame subject image identifying is carried out to histogram equalization processing, obtain the present frame subject image after histogram equalization;
Step (15): the expection mean picture brightness after compute histograms equalization, adds up the present frame subject image brightness after histogram equalization to be averaging the expection mean picture brightness obtaining after histogram equalization;
Step (16): photographic images mean flow rate and the comparison of expection mean picture brightness, if photographic images mean flow rate is less than or equal to and sets mean picture brightness difference with the absolute value of the difference of expection mean picture brightness, just think that auto-exposure control controls and put in place, stop the adjustment of time for exposure, time for exposure using time for exposure of present frame as next frame, if the photographic images mean flow rate of present frame is greater than and sets mean picture brightness difference with the absolute value of the difference of expection mean picture brightness, enter time for exposure adjustment;
Step (17): determine next frame image exposuring time, on the basis of time for exposure of present frame, carry out time for exposure selection according to the photographic images mean flow rate of present frame and the positive and negative and size of the difference of expection mean picture brightness, comprise the following steps:
Step (171): if the photographic images mean flow rate of present frame with the difference of expection mean picture brightness for just, next frame image exposuring time just need to reduce the time for exposure on the basis of former frame image exposuring time;
Step (172): if the photographic images mean flow rate of present frame is negative with the difference of expection mean picture brightness, next frame image exposuring time just need to increase the time for exposure on the basis of former frame image exposuring time;
Step (173): the photographic images mean flow rate of present frame is carried out self adaptation with the difference size of expection mean picture brightness and determined the exposure time values that increases, reduces, and the exposure time values that increases, reduces is step-length numerical value time for exposure, equivalent value Z X × luminance difference Y × time for exposure;
Step (174): if the lower limit difference of the time for exposure of former frame and time for exposure scope is greater than definite exposure time values reducing, the time for exposure of next frame is former frame time for exposure deducts definite exposure time values that reduces; Otherwise the directly time for exposure using the lower limit of time for exposure scope as next frame;
Step (175): if the upper limit difference of the time for exposure of former frame and time for exposure scope is greater than the exposure time values of definite increase, the time for exposure of next frame is former frame time for exposure adds definite increase exposure time values; Otherwise the directly time for exposure using the higher limit of time for exposure scope as next frame.
Compared to the prior art the present invention had advantages of:
1, the present invention can realize under various illumination conditions, temperature conditions, and the self adaptation of the shooting body image is cut apart, and the shooting body image being partitioned into is carried out to effectively exposure and control.
2, in the present invention, the adjustment of automatic exposure time is determined by photographic images mean flow rate and the difference size of expection mean picture brightness, and image brightness difference is less, and the time for exposure of adjustment is less, and image brightness difference is larger, and the time for exposure of adjustment is larger.Such mechanism the time for exposure adjust with depth of exposure and change, reach search speed and the balance of search between stability.
3, the present invention can adjust exposure value fast and accurately, regulates exposure value more stable, can effectively avoid the explosure flash phenomenon causing owing to not restraining.
4, the present invention adopts automatic exposure control method, and to the bright target of the dark background in space exploration, target sizes be uncertain etc., various situations obtain good exposure effect, and convergence is fine.
Brief description of the drawings
Fig. 1 is auto-exposure control block diagram of the present invention;
Fig. 2 selects block diagram the time for exposure of the present invention;
Fig. 3 is the technique effect schematic diagram one of lunar surface application of the present invention;
Fig. 4 is the technique effect schematic diagram two of lunar surface application of the present invention.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is further described in more detail.
A kind of automatic exposure control method based on self adaptation expection mean picture brightness that is applicable to space exploration imaging, first adopt adaptive threshold to cut apart to current frame image, identify present frame subject image, obtain present frame photographic images mean flow rate by present frame subject image mean flow rate, then the present frame subject image identifying is carried out to histogram equalization processing, obtain the expection mean picture brightness after histogram equalization, choose the time for exposure according to photographic images mean flow rate and the positive and negative and size of the difference of expection mean picture brightness again, adopt the continuous loop iteration of successive frame to make photographic images mean flow rate reach the self adaptation expection mean picture brightness after histogram equalization, wherein, as shown in Figure 1, auto-exposure control step is:
Step (11): imageing sensor is exported a two field picture, imageing sensor obtains a frame the shooting body image according to the time for exposure;
Step (12): identify present frame subject image, using the average of all pixels of current frame image 1/3rd as threshold value, be present frame subject image by the pixel segmentation that is more than or equal to threshold value;
Step (13): calculate present frame photographic images mean flow rate, the present frame subject image brightness identifying is added up and is averaging the photographic images mean flow rate that obtains present frame;
Step (14): the present frame subject image histogram equalization identifying, the present frame subject image identifying is carried out to histogram equalization processing, obtain the present frame subject image after histogram equalization;
Step (15): the expection mean picture brightness after compute histograms equalization, adds up the present frame subject image brightness after histogram equalization to be averaging the expection mean picture brightness obtaining after histogram equalization;
Step (16): photographic images mean flow rate and the comparison of expection mean picture brightness, if photographic images mean flow rate is less than or equal to and sets image brightness difference with the absolute value of the difference of expection mean picture brightness, just think that auto-exposure control controls and put in place, stop the adjustment of time for exposure, time for exposure using time for exposure of present frame as next frame, if the photographic images mean flow rate of present frame is greater than and sets image brightness difference with the absolute value of the difference of expection mean picture brightness, enter time for exposure adjustment;
Step (17): determine next frame image exposuring time, on the basis of time for exposure of present frame, carry out time for exposure selection according to the photographic images mean flow rate of present frame and the positive and negative and size of the difference of expection mean picture brightness, as shown in Figure 2, comprise the following steps:
Step (171): if the photographic images mean flow rate of present frame with the difference of expection mean picture brightness for just, next frame image exposuring time just need to reduce the time for exposure on the basis of former frame image exposuring time;
Step (172): if the photographic images mean flow rate of present frame is negative with the difference of expection mean picture brightness, next frame image exposuring time just need to increase the time for exposure on the basis of former frame image exposuring time;
Step (173): the photographic images mean flow rate of present frame is carried out self adaptation with the difference size of expection mean picture brightness and determined the exposure time values that increases, reduces, and the exposure time values that increases, reduces is step-length numerical value time for exposure, equivalent value Z X × luminance difference Y × time for exposure;
Step (174): if the lower limit difference of the time for exposure of former frame and time for exposure scope is greater than definite exposure time values reducing, the time for exposure of next frame is former frame time for exposure deducts definite exposure time values that reduces; Otherwise the directly time for exposure using the lower limit of time for exposure scope as next frame;
Step (175): if the upper limit difference of the time for exposure of former frame and time for exposure scope is greater than the exposure time values of definite increase, the time for exposure of next frame is former frame time for exposure adds definite increase exposure time values; Otherwise the directly time for exposure using the higher limit of time for exposure scope as next frame.Wherein automatic exposure control parameter of the present invention is selected as table 1.
Table 1 is automatic exposure control parameter table of the present invention
Fig. 3 is the technique effect schematic diagram one of lunar surface of the present invention application, powers up for the first time the automatic exposure imaging effect of start at lunar surface, and image texture is clear, levels are rich, menology atural object edge are obvious, good image quality;
Fig. 4 is the technique effect schematic diagram two of lunar surface application of the present invention, takes the automatic exposure imaging effect of making an inspection tour device at lunar surface, and the Five-Starred Red Flag (the national flag of the People's Republic of China) is clear, levels are rich, good image quality.
Claims (1)
1. one kind is applicable to the automatic exposure control method based on self adaptation expection mean picture brightness of space exploration imaging, it is characterized in that: first adopt adaptive threshold to cut apart to current frame image, identify present frame subject image, obtain current frame image mean flow rate by present frame subject image mean flow rate, then the present frame subject image identifying is carried out to histogram equalization processing, obtain the expection mean picture brightness after histogram equalization, choose the time for exposure according to current frame image mean flow rate and the positive and negative and size of the difference of expection mean picture brightness again, adopt the continuous loop iteration of successive frame to make current frame image mean flow rate reach the self adaptation expection mean picture brightness after histogram equalization, wherein, auto-exposure control step is:
Step (11): imageing sensor is exported a two field picture, imageing sensor obtains a frame present frame subject image according to the time for exposure;
Step (12): identify present frame subject image, using the average of all pixels of current frame image 1/3rd as threshold value, be present frame subject image by the pixel segmentation that is more than or equal to threshold value;
Step (13): calculate current frame image mean flow rate, the present frame subject image brightness identifying is added up and is averaging the photographic images mean flow rate that obtains present frame;
Step (14): the present frame subject image histogram equalization identifying, the present frame subject image identifying is carried out to histogram equalization processing, obtain the present frame subject image after histogram equalization;
Step (15): the expection mean picture brightness after compute histograms equalization, adds up the present frame subject image brightness after histogram equalization to be averaging the expection mean picture brightness obtaining after histogram equalization;
Step (16): present frame photographic images mean flow rate and the comparison of expection mean picture brightness, if present frame photographic images mean flow rate is less than or equal to and sets mean picture brightness difference with the absolute value of the difference of expection mean picture brightness, just think that auto-exposure control controls and put in place, stop the adjustment of time for exposure, time for exposure using time for exposure of present frame as next frame, if the photographic images mean flow rate of present frame is greater than and sets mean picture brightness difference with the absolute value of the difference of expection mean picture brightness, enter time for exposure adjustment;
Step (17): determine next frame image exposuring time, on the basis of time for exposure of present frame, carry out time for exposure selection according to the photographic images mean flow rate of present frame and the positive and negative and size of the difference of expection mean picture brightness, comprise the following steps:
Step (171): if the photographic images mean flow rate of present frame with the difference of expection mean picture brightness for just, next frame image exposuring time just need to reduce the time for exposure on the basis of former frame time for exposure;
Step (172): if the photographic images mean flow rate of present frame is negative with the difference of expection mean picture brightness, next frame image exposuring time just need to increase the time for exposure on the basis of former frame time for exposure;
Step (173): the photographic images mean flow rate of present frame is carried out self adaptation with the difference size of expection mean picture brightness and determined the exposure time values that increases, reduces, and the exposure time values that increases, reduces is step-length numerical value time for exposure, equivalent value Z X × luminance difference Y × time for exposure;
Step (174): if the lower limit difference of the time for exposure of former frame and time for exposure scope is greater than definite exposure time values reducing, the time for exposure of next frame is former frame time for exposure deducts definite exposure time values that reduces; Otherwise the directly time for exposure using the lower limit of time for exposure scope as next frame;
Step (175): the added value of determining next frame image exposuring time, if the upper limit difference of the time for exposure of former frame and time for exposure scope is greater than the exposure time values of definite increase, the time for exposure of next frame is former frame time for exposure adds definite increase exposure time values; Otherwise the directly time for exposure using the higher limit of time for exposure scope as next frame.
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